Summary of Motion Keywords eV+Language User's Guide, v2.x, 18318-000 Rev A Page 127 Keyword Type Function BELOW PI Request a change in the robot configuration during the next motion so that the elbow is below the line from the shoulder to the wrist. BRAKE PI Abort the current robot motion. BREAK PI Suspend program execution until the current motion completes. CALIBRATE PI Initialize the robot positioning system. CLOSE PI Close the robot gripper immediately. CLOSEI PI Close the robot gripper. COARSE PI Enable a low-precision feature of the robot hardware servo (see FINE).
CONFIG RF Return a value that provides information about the robot's geometric configuration, or the status of the motion servo-control features. CP S Control the continuous-path feature. CPOFF PI Instruct the eV+ system to stop the robot at the completion of the next motion instruction (for all subsequent motion instructions) and null position errors. CPON PI Instruct the eV+ system to execute the next motion instruction (or all subsequent motion instructions) as part of a continuous path. DECOMPOSE PI Extract the (real) values of individual components of a location value. DELAY PI Cause robot motion to stop for the specified period of time.
DEPART PI Start a joint-interpolated robot motion away from the current location.